Title :
Design and evaluation of two-channel-based sound source localization over entire azimuth range for moving talkers
Author :
Kim, Hyun-Don ; Komatani, Kazunori ; Ogata, Tetsuya ; Okuno, Hiroshi G.
Author_Institution :
Speech Media Process. Group, Kyoto Univ., Kyoto
Abstract :
We propose a way to evaluate various sound localization systems for moving sounds under the same conditions. To construct a database for moving sounds, we developed a moving sound creation tool using the API library developed by the ARINIS Company. We developed a two-channel-based sound source localization system integrated with a cross-power spectrum phase (CSP) analysis and EM algorithm. The CSP of sound signals obtained with only two microphones is used to localize the sound source without having to use prior information such as impulse response data. The EM algorithm helps the system cope with several moving sound sources and reduce localization error. We evaluated our sound localization method using artificial moving sounds and confirmed that it can well localize moving sounds slower than 1.125 rad/sec. Finally, we solve the problem of distinguishing whether sounds are coming from the front or back by rotating a robotpsilas head equipped with only two microphones. Our system was applied to a humanoid robot called SIG2, and we confirmed its ability to localize sounds over the entire azimuth range.
Keywords :
acoustic radiators; humanoid robots; microphones; API library; ARINIS Company; EM algorithm; cross-power spectrum phase analysis; humanoid robot; microphones; robot heads; sound creation tool; sound localization systems; two-channel-based sound source localization; Azimuth; Databases; Equations; Humanoid robots; Microphones; Robots; Training;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650947